I have implemented a PID controller using simulink pid block for a system. I was trying to implement the same thing using a PID code (formula) in a matlab function block and compare the performances. However, I am getting differences in both the cases. Unable to figure out where exactly is the problem.
For simulink block I have implemented antiwindup, similarly I have done it in the code.
PID code as in the matlab function is as below:
function y = fcn(error,kp,ki)
dt = sampletime;
persistent integral newintegral
if isempty(integral)
integral = 0;
end
if isempty(newintegral)
newintegral = 0;
end
newintegral = integral + (error*dt);
output = kp*error + ki * integral;
if output>48000
output=48000;
elseif output<3000
output =3000;
else
integral = newintegral;
end
y = output;
Is there anything that I am implementing wrong in the code? Requesting some help/direction.
Thank you
directly from the Integrator block, and then feed it into the MATLAB function block? Something like this
